Many recent human-robot collaboration strategies, such as Assist-As-Needed (AAN), are promoting humancentered robot control, where the robot continuously adapts its assistance level based on the real-time need of its human counterpart. One of the fundamental assumptions of these approaches is the ability to measure or estimate the physical capacity of humans in real-time.In this work, we propose an algorithm for the feasibility set analysis of a generic class of linear algebra problems. This novel iterative convex-hull method is applied to the determination of the feasible cartesian wrench polytope associated to a musculoskeletal model of the human upper limb. The method is capable of running in real-time and allows the user to define the desired estimation accuracy. The algorithm performance analysis shows that the execution time has near-linear relationship to the considered number of muscles, as opposed to the exponential relationship of the conventional methods. Finally, real-time robot control application of the algorithm is demonstrated in a Collaborative carrying experiment, where a human operator and a Franka Emika Panda robot jointly carry a 7kg object. The robot is controlled in accordance to the AAN paradigm maintaining the load carried by the human operator at 30% of its carrying capacity.
In 2019, Rhoban Football Club reached the first place of the KidSize soccer competition for the fourth time and performed the first in-game throw-in in the history of the Humanoid league. Building on our existing code-base, we improved some specific functionalities, introduced new behaviors and experimented with original methods for labeling videos. This paper presents and reviews our latest changes to both software and hardware, highlighting the lessons learned during RoboCup.
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.